机器人关节用双定子永磁同步电机设计

微特电机 ›› 2021, Vol. 49 ›› Issue (11): 14-18.

机器人关节用双定子永磁同步电机设计

李荣¹, 许晶波², 孙贤备¹, 陈进华¹, 张驰¹

1.中国科学院宁波材料技术与工程研究所,浙江省机器人与智能制造装备技术重点实验室,宁波 315201;
2.浙江医药高等专科学校医疗器械学院,宁波 315599

收稿日期:2021-07-26 出版日期:2021-11-28 发布日期:2021-11-16
作者简介:李荣(1987—),男,硕士研究生,工程师,研究方向为永磁伺服电机设计与控制。
基金资助:
国家自然科学基金项目(51805523);宁波市科技创新2025重大专项(2020Z067);宁波市科技创新2025重大专项(2019B10077);宁波市自然科学基金项目(2019A610115)

Design of Double Stator Permanent Magnet Synchronous Motor for Robot Joint

LI Rong¹, XU Jing-bo², SUN Xian-bei¹, CHEN Jin-hua¹, ZHANG Chi¹

1. Laboratory of Robotics and Intelligent Manufacturing Equipment Technology of Zhejiang Province, Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences,Ningbo 315201, China;
2. Department of Medical Devices, Zhejiang Pharmaceutical College, Ningbo 315599, China

Received:2021-07-26 Online:2021-11-28 Published:2021-11-16

摘要/Abstract

摘要： 针对机器人关节柔顺性、高精度和高动态响应的要求,提出采用机器人关节用双定子永磁同步电机设计方法,降低电机齿槽转矩和转动惯量。给出该电机结构特点及设计原则,参照传统单定子永磁电机设计方法,计算并设计了一台双定子永磁同步电机,进行了有限元建模与仿真,分析了电机的气隙磁密、反电动势、齿槽转矩及转矩等性能参数。研制样机并进行了实验,实验验证了该电机的准确性与合理性。结果表明,与同规格的单定子永磁电机进行相比,双定子永磁同步电机具有动态响应快、带负载能力强的特点。

关键词: 机器人关节, 双定子, 永磁电机, 电磁设计

Abstract: Aiming at the requirements of flexibility, high-precision and high dynamic response of robot joints, a dual-stator permanent magnet synchronous motor was proposed to increase its torque density and reduce its cogging torque and moment of inertia. Its structural characteristics and design principles were given. A double-stator permanent magnet synchronous motor was calculated and designed with reference to the traditional single-stator permanent magnet motor design method. The motor finite element modeling and simulation were carried out, the motor’s performance parameters such as air gap flux density, back electromotive force, cogging torque and torque were analyzed. A prototype was developed andexperiments were conducted, which verified the accuracy and validity of the designed motor.The results show that, compared with the single-stator permanent magnet motor, the double-stator permanent magnet synchronous motor has the characteristics of fast dynamic response and strong load capacity.

Key words: robot joint, double stator, permanent magnet motor, electromagnetic design

中图分类号:

TM351

李荣, 许晶波, 孙贤备, 陈进华, 张驰. 机器人关节用双定子永磁同步电机设计[J]. 微特电机, 2021, 49(11): 14-18.

LI Rong, XU Jing-bo, SUN Xian-bei, CHEN Jin-hua, ZHANG Chi. Design of Double Stator Permanent Magnet Synchronous Motor for Robot Joint[J]. Small & Special Electrical Machines, 2021, 49(11): 14-18.

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